Forthcoming articles

International Journal of Advanced Mechatronic Systems

International Journal of Advanced Mechatronic Systems (IJAMechS)

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International Journal of Advanced Mechatronic Systems (25 papers in press)

Regular Issues

  • Operator-based nonlinear fault detection and fault tolerant control for microreactor using one-class SVM   Order a copy of this article
    by Yoshiki Ogihara, Mingcong Deng 
    Abstract: This paper proposes a method of nonlinear fault detection scheme using one-class Support Vector Machine (SVM) and operator-based fault tolerant control system for a microreactor with Peltier device. This method requires only one-shot training data for the normal condition of the plant. The data is used to learn for the SVM, it realizes nonlinear fault detection without the known fault condition of the plant. Also, the control system that consists of the nonlinear model of the microreactor system and operator-based controller designed by the model is introduced as the fault tolerant control system using compensation operator to remove the sensor fault. The usefulness of the method is shown by an experiment of the temperature sensor fault case for the temperature control system of the microreactor system.
    Keywords: nonlinear control; fault detection; fault tolerant control; one-class classification; Support Vector Machine.

  • Optimal wavelet analysis and enhanced independent component analysis for isolated and combined mechanical faults diagnosis   Order a copy of this article
    by Tawfik Thelaidjia, Salah Chenikher, Abdelkrim Moussaoui 
    Abstract: In this paper, a new approach is suggested for isolated and combined mechanical faults diagnosis. The suggested approach consists of two main steps: vibration signal denoising and characteristic frequency extracting. Firstly, an optimal wavelet multi-resolution analysis is employed for reducing noise from vibration signals. Secondly, the enhanced independent component analysis algorithm (EICA) which overcomes the shortcoming of the ICA algorithm and allows selecting the reliable independent components is adopted for source separation. Therefore, simple and comprehensible spectra will be obtained. Finally, the suggested method is tested using real vibration signals. Compared with other approaches, it has been revealed that the suggested method can efficiently be employed to diagnose both isolated and combined mechanical faults.
    Keywords: hilbert transform; fault diagnosis; enhanced independent component analysis; mechanical faults; tri-axial accelerometer; optimal wavelet multi-resolution analysis.

  • Chattering and bias free design of operator-based nonlinear sliding mode control for a WPT system   Order a copy of this article
    by Koki Takasu, Mingcong Deng 
    Abstract: Wireless power transfer (WPT) system via magnetic resonance coupling method is attracting attention to high convenience. WPT system has problems such as power transmitting loss and output voltage fluctuation due to the change in the coupling coefficient and the load state. In previous method, sliding mode control system as a tracking controller considering nonlinearity and uncertainty has been proposed, but the output of this control system had bias and chattering. This paper proposes operator-based nonlinear sliding mode control system to reduce chattering and bias simultaneously for WPT system using buck converter. First, the model of the WPT system using rectifier and buck converter is explained and dynamics formulas are derived. Next, the proposed operator-based nonlinear sliding mode control system design for the WPT system is described and tracking performance is confirmed. Finally, the result of simulation of constant voltage control and comparison with the previous method is shown.
    Keywords: robust control; variable-structure/sliding-mode control; power electronics.

  • Development of Path Tracking Control of Tracked Vehicle for Unmanned Ground Vehicle (UGV)   Order a copy of this article
    by Muhammad Akhimullah, Khisbullah Hudha, Zulkiffli Abd. Kadir, Syed Mohd Fairuz Syed Mohd Dardin, Noor Hafizah Amer 
    Abstract: This paper presents the development of path tracking control strategy for a tracked vehicle. A path tracking control strategy is developed using an established Stanley controller. However, it is integrated with Ackerman steering configuration to provide a relationship between path tracking controller and tracked vehicle model. The tracked vehicle model consists of several modules such as kinematic model, velocity model, local and global coordinates, turning radius and dynamic model. The main contribution of this paper is the integration of path tracking control between tracked vehicle model and Ackerman steering configuration which is still limited in this research area. The validation of path tracking controller is completed in three various tests, namely straight line, right turn and left turn test. All these three tests show that the percentage of error between desired path and the vehicle responses are below than 1% for all tests.
    Keywords: tracked vehicle; path tracking control; Stanley controller; trajectory following.

  • Automated micro insulin dispenser system based on the model predictive control algorithm   Order a copy of this article
    by Akshaya Kumar Patra, Anuja Nanda 
    Abstract: During the past few decades, optimal control of Blood Glucose (BG) concentration with adequate feedback loop has been of ample importance for Type-I Diabetes Mellitus (TIDM) patients as far as an Artificial Pancreas (AP) realization is concerned. Now-a-days, in addition to the BG control, the design of the Micro-Insulin Dispenser (MID) with a robust control algorithm to regulate the other chronic clinical disorders based on prolonged medications is also quite indispensable. A novel Model Predictive Controller with Laguerre Functions (MPC/LF) has been proposed in this current work to solve the aforementioned problem. For the estimation of the MPC/LF parameters, a ninth order linearized structure of the TIDM patient with MID is taken. The productivity of the MPC/LF as to accuracy, robustness and stability has been checked through simulation. The acquired results obviously expose the better execution of the proposed strategy to control the BG level inside the normo-glycaemic extend (70 120mg/dl). The validation of upgrading control execution of MPC/LF is exhibited by the relative outcome investigation with other well-known control procedures.
    Keywords: diabetes mellitus; plasma glucose level; MID; laguerre functions; MPC/LF.

  • Motion Estimation Based Inclination Measurement of Industrial Assembly Platform   Order a copy of this article
    by Zelin Meng, Lin Meng, Hiroyuki Tomiyama 
    Abstract: This paper presents a method for measuring the inclination angle of bearing mounting plane based on binocular vision technology. In the actual installation process of the bearing, the mounting plane will have a certain degree of inclination. To improve the product yield rate, this paper designs the inclination measurement system by using binocular vision technology and the proposed optimized PnP (Perspective-n-Point) method. After experimental testing, the measurement system for the inclination angle proposed in this paper can meet the requirements of the production process. Besides, the proposed approach achieves high measurement accuracy as well as good real-time performance.
    Keywords: motion estimation; feature matching; inclination measurement; optimization.

  • Simulation Based Assessment of a Road Surface Condition Aware Adaptive Cruise Control   Order a copy of this article
    by Thomas Weber, Dieter Schramm 
    Abstract: One of the major research and development efforts in the automotive industry worldwide is the introduction of highly automated driving functions. Due to the high level of complexity, suppliers and manufacturers often wonder whether and to what extent the potential or the effectiveness of newly developed systems can already be estimated a priori in terms of the different requirements in order to make the development process more targeted and thus timelier and also more cost-efficient. In the context of a current research project, that is developing a sensor system for the detection of the road surface condition, it shall be investigated how such a system can be used to improve high-level driving functions. In this paper, as an example to this end, the algorithm of a state-of-the-art Adaptive Cruise Control (ACC) is first extended by a friction coefficient awareness and then tested and examined based on simulations within a complex vehicle model. Subsequently, the system is implemented in a traffic flow simulation and analysed for its impact on road safety via the analysis of corresponding parameters.
    Keywords: Adaptive Cruise Control; Advanced Driver Assistance Systems; Highly Automated Driving; Traffic Simulation; Simulation Based Assessment;.

  • A vehicle suspension system based on Kalman filtering model predictive control algorithm   Order a copy of this article
    by Akshaya Kumar Patra 
    Abstract: The aim of this manuscript is to formulate a Kalman Filtering Model Predictive Controller (KFMPC) for a Vehicle Suspension System (VSS) to enhance the ride luxury by retaining the stuns because of an unpleasant and crooked road. For the formulation of the KFMPC, a 4th order state-space structure of the VSS is deliberated. In this strategy, the Conventional Model Predictive Controller (CMPC) is redesigned by use of the Kalman filter to upgrade the control execution. The approval of the upgraded control execution of KFMPC is set up by comparative outcome examination with other well-known control strategies. The relative outcomes obviously reveal the better execution of the recommended strategy to monitor the VSS dynamics inside a steady range as for the accuracy, stability, and robustness.
    Keywords: VSS; oscillation; Kalman filter; model predictive control.

  • Research on static reactive power generator based on asymmetric distribution network   Order a copy of this article
    by Fuzhuan Wu, Shengjun Wen, Sheng Peng 
    Abstract: Negative or zero sequence components are generated when the voltage is asymmetric or harmonic in distribution networks. Meanwhile, the decoupling process of traditional dq transform is complex. To solve the above problems, firstly, the T/4 delay method (T is the period of grid voltage) is presented to separate positive and negative sequence components, which improves the stability of software phase-locked. Then, software phase-locked loop (SPLL) is designed to ensure the instantaneity of reactive current check. Besides, a double-loop control scheme combining proportional integral (PI) controller for DC voltage in outer loop and proportional resonance (PR) controller for AC current in inner loop without decoupling is designed by considering the characteristics of traditional PI and PR without static error regulation. It avoids the complicated decoupling process and improves the real-time performance of the system. Finally, both simulation and experimental results are given to verify the feasibility of design scheme in the static var generator (SVG) system by MATLAB/Simulink and experimental platform based on DSP28335.
    Keywords: static reactive power generator; asymmetrical distribution network; PR controller; software phase-locked loop; SPLL.
    DOI: 10.1504/IJAMECHS.2020.10032089
     
  • Data-based reinforcement learning for lane keeping with input saturation   Order a copy of this article
    by Rui Luo, Dianwei Qian, Qichao Zhang 
    Abstract: With the development of artificial intelligence, autonomous driving has received extensive attention. As a very complex integrated system, the autonomous vehicle has several modules. This paper is related to the control module, which is used to design an optimal or near-optimal controller to control the desired trajectory of the vehicle. In this paper, lateral control strategy for lane keeping task is proposed based on the model-free reinforcement learning. Different from the model-based methods such as linear quadratic regulator and model predictive control, our method only requires the generated data rather than the perfect knowledge of the system model to guarantee the optimal performance. At the same time, in order to meet two needs of passengers' comfort and fuel economy, input saturation should be considered in the design of the control module. A low-gain state feedback control method is adopted. It mainly solves some algebraic Riccati equations for data-based lateral control. Finally, the corresponding simulation is given and the validity of the algorithm is verified.
    Keywords: lateral control; lane keeping; input saturation; model-free reinforcement learning.
    DOI: 10.1504/IJAMECHS.2020.10032091
     
  • A self-learning fall detection system for elderly persons using depth camera   Order a copy of this article
    by Xiangbo Kong, Lin Meng, Hiroyuki Tomiyama 
    Abstract: The machine learning revolution is redesigning modern healthcare, and with the growth of the elderly population, fall detection has become an important research topic in healthcare. This paper surveys advances in machine learning-based fall detection technologies and reviews sensor-based, image processing-based, and wearable sensor-based fall detection systems and applications. In addition, this paper proposes a self-learning posture analysis and eye status-based fall detection system to solve the issue of mis-detections in fall detection systems, which have not been addressed in past works. Furthermore, this work proposes an image-feature-separation system that can use image processing with a low risk of privacy disclosure. Moreover, this work establishes a dataset, which includes 36 non-fall/fall cases comprising 25,200 images that can be used not only for this research but also in related studies. Experimental results show that this system can detect a fall with high accuracy and solve mis-detections in machine learning-based fall detection systems.
    Keywords: healthcare; elderly persons; fall detection; self-learning; posture analysis; eye status; support vector machine; SVM.
    DOI: 10.1504/IJAMECHS.2020.10032093
     
  • A learning-based short-term wind speed forecasting approach through spiking neural networks   Order a copy of this article
    by Jing Hu, Lili Xie, Xinyi Chen, Weidong Liu, Xingpeng Zhang, Dianwei Qian 
    Abstract: In real-world applications, the index of wind speed is concerned to many fields. This index plays an extremely important role in wind power systems. Unfortunately, it is hard enough to accurately measure the wind speed. Its forecasting undoubtedly becomes harder and more challenging. This paper focuses on the problem of short-term wind speed forecasting. It is too complex to model the wind speed by mathematical formulas. The technique of neural networks is a learning-based approach. By this technique, the method of spiking neural networks is one of the most successful methods to fulfil the modelling of complex dynamics and the exploitation of learning ability. This paper investigates a spiking-neural-network-based structure, designs a hybrid learning algorithm that combines the adaptive learning rate and the momentum term and implements them for the short-term wind speed forecasting. Experiments and comparisons are illustrated to show the effectiveness and feasibility of this learning-based forecasting approach.
    Keywords: wind speed; forecasting; short-term; spiking neural networks; SNNs; learning algorithm; modelling; power generation.
    DOI: 10.1504/IJAMECHS.2020.10032096
     
  • Fingerprint and password controlled garage access system with belt pulley and power screw driven mechanism   Order a copy of this article
    by Md. Mostafizur Rahman Komol, Md. Karimul Joarder, Abdullah Arafat, Amit Kumer Podder 
    Abstract: Garage automation and security have been a favoured concern with technological advancement. In this paper, developed garage access security and automation system are proposed with the affiliated control of the biometric fingerprint recognition and password verification system. Here, fingerprint recognition is restricted to the registered vehicle owners of the garage, while everyone is permitted to access through a password verification system. The affiliation of the dual-sensing system is intended to maintain robust security and to retain the record of any driver's access without the vehicle owners. Moreover, the system is enriched with a subtle design of the access door and its operation mechanism. Power screw-driven door operation is utilised to convert the rotating motion of the motor to linear motion and slide the door open or close. The requisite motor torque, revolution per minute, and power requirement for door control by the screw operation are also calculated and verified.
    Keywords: fingerprint; password; garage access; belt-pulley; power-screw; motor-torque.
    DOI: 10.1504/IJAMECHS.2020.10032097
     

Special Issue on: RANE 2019 Intelligent Mechatronic Systems and Additive Manufacturing

  • Obstacle Avoidance System and Wireless Communication for an Unmanned Underwater Vehicle for Low Depth Water Surfaces   Order a copy of this article
    by Arockia Selvakumar Arockia Doss, Vivek Ghodeswar 
    Abstract: An underwater glider is a most commonly used unmanned underwater vehicle but it has limitations to avoid obstructions in its path. To overcome this problem, the application of obstacle avoiding system is needed. This paper describes the development of an unmanned underwater vehicle (UUV) with integration of sensor-actuator network to avoid obstacles. To study the hydrodynamic behavior of the proposed UUV, computational fluid dynamics (CFD) is carried out by considering pure surge and heave motion. The UUV is equipped with obstacle avoidance system with Infra-Red (IR) sensor and wireless communication module. Experimental tests are conducted to understand the behavior of the UUV in low depth water surfaces and also to validate the CFD simulation results. The UUVs development, motion analyses and preliminary tests in obstacle avoidance are reported.
    Keywords: underwater vehicle; CFD; motion study; thruster; IR sensor; sensor-actuator network.

  • Maze Path Planning of Mobile Robots by Gradient Map Rendering and Gradient Follow   Order a copy of this article
    by Arockia Selvakumar Arockia Doss, Arka Das, Pavan K L, Dinakaran D 
    Abstract: Path Planning for a human being is very easy to reach a desired location in a room, by avoiding obstacles on the way, by generating a mental map and uses this map to find the optimal path. This is a difficult task in case of a robot. In order to make the robot adapt, the system is fed with different obstacle arrangement in the same room and allow the robot to finalize the optimal path avoiding the obstacles. To achieve, the gradient map rendering algorithm is proposed with successful simulation results in MATLAB. The new map produced has given a gradient again using the same algorithm. After the rendering process is completed, the robot climbs up or down the gradient using the maximum or minimum local gradient technique respectively, to find its way to the destination cell. Gradient surface plots are obtained for a variety of mazes to give a visualization of how the gradient is being formed. Results are obtained after maze simulation successfully shows the most optimized path in any kind of maze.
    Keywords: gradient follow; gradient map rendering; gradient movement; grid maze; MATLAB; mobile robot; path planning.

  • Structural Design and Analysis of a Lower Limb Exoskeleton for Elderly   Order a copy of this article
    by Vishnu Vardhan Dadi, Sathwik P. V. N. S, Mahesh D, Jaswanth Dala, Karthik Kumar S, Ramya M. M, Dinakaran D 
    Abstract: Rehabilitation of the elderly is often limited to restoration of the ability to perform as many activities of daily living. Mobility is identified as most essential rehabilitation required for elderly. Sit-to-Stand (STS) manoeuvre is a common aspect of mobility. In this paper, a lower limb exoskeleton is designed to assist elderly during STS cycle. The design of lower limb exoskeleton is tested for its structural strength. The mechanical design of the exoskeleton can adapt to varying body shapes (height, weight and waist circumference) of elderly. Static structural analysis for stand position is carried out in Ansys Workbench to find whether the design can withstand a maximum load during the static condition. Modal Analysis was done to find the natural frequency vibration of the design and the deformation of the exoskeleton with respect to the mode vibrations.
    Keywords: Rehabilitation; Exoskeleton; Lower Limb; Elderly; Structural Analysis; Modal Analysis; Gait Analysis.

  • Platform Tilt Stabilization Using Inertial Measurement Unit Sensor   Order a copy of this article
    by Prasad Elumalai, Thirumal Azhagan Murugan, Karthikeyan Palanisamy 
    Abstract: This paper aims to develop a low cost two-axis pan-tilt platform stabilization setup using a low-cost IMU (Inertial Measurement Unit) sensor, utilize elegant and widely used sensor fusion and control algorithm, and demonstrate the performance of such a system. To perform platform stabilization, reliable pan-tilt angular estimates are required from the IMU sensor. For this purpose, techniques such as sensor bias removal, Digital Low Pass Filtering (DLPF) and sensor fusion algorithms are deployed. FIR (First-order Impulse Response) filter is chosen as the DLPF algorithm and the Complementary Filter (CF) is chosen as the sensor fusion algorithm as these are widely recognized for their need of very less computational power. Finally, the pan-tilt stabilization is performed by two separate PID servo control tuned using Zeigler-Nichols manual tuning rules and finally the performance of the control system in tracking the angular estimates is finally studied.
    Keywords: Pan-Tilt Platform; Platform Stabilization; Inertial Measurement Unit; Sensor Fusion; Complementary Filter; PID Servo Control.

  • Design and Development of Robotic End-effector Position Measuring Device   Order a copy of this article
    by Aashith C, Muralidhara Rao 
    Abstract: Robot end-effector position measurement is very essential to determine the error between the commanded position and actual position reached by the robot end-effector. This also ensures the error with which the robot end-effector traces the commanded path. Conventionally position measuring devices like laser trackers, Co-ordinate Measuring Machine and other non-contact based position measuring devices are widely used to measure the position of the end-effector due to their high accuracy and precision, even though they are very expensive. This paper presents a cost effective solution for the measurement of position of robot end-effector. An end-effector position measuring device is designed and developed in spherical coordinate system using two absolute rotary encoders and a draw-wire sensor. A mathematical model for the end-effector position measuring device is developed to determine the position of the end-effector with respect to a reference coordinate system using 3-D homogeneous transformation approach. End-effector position measuring device is tested for ABB IRB 1600 for numerous poses and for a straight line path. The newly developed end-effector position measuring device is found to be capable of measuring the end effector position with an accuracy of 2 mm and hence can be implemented in calibration of industrial robots.
    Keywords: end-effector position measuring device; 3D Homogeneous transformation; kinematic model; end-effector position/path error.

  • Machine Learning based Ovarian Detection in Ultrasound Images   Order a copy of this article
    by Kiruthika V, Sathiya S, Ramya M.M 
    Abstract: Computer aided ovarian detection and ovarian classification is important in infertility treatment in women. In the proposed methodology, an intelligent automatic detection and ovarian classification with grading based on integration of intensity and texture features using artificial neural network is developed. Three texture features such as autocorrelation, sum average and sum variance obtained from gray level co-occurrence matrix (GLCM) and intensity obtained using k-means clustering were fed as input to the multilayer feedforward backpropagation network for ovarian detection. Ovarian morphology was used for classification and grading of ovary. This novel technique helps the physician to grade the follicle/cyst. Performance metrics like Sensitivity, Specificity, Accuracy, Precision, F-measure, Mathews correlation coefficient and Receiver Operating Characteristic Curve were used to prove the effectiveness of the proposed Machine learning based Ovarian Detection (MLOD). The MLOD classifier yielded an average detection accuracy of 96% which is an increase of 2% as compared to the combined texture and intensity based ovarian classification (TIOC) algorithm.
    Keywords: Colour space transform; Discrete wavelet transform; K-means clustering; texture features; intensity based segmentation; machine learning; intelligent classifier; Artificial neural network; ovarian detection; ovarian classification.

  • Development of Pass - Through Augmented Reality Interface for Human Robot Interaction   Order a copy of this article
    by Madhumitha G, Nandhini M, Senthilnathan R 
    Abstract: In this technology driven world, human machine interaction is indispensable. Conventional Human Machine Interface techniques pose the challenges of extensive training and increased cognitive load. Usage of hand gestures, face and speech recognition, eye ball tracking, etc are in the upward trend to overcome these limitations and prove to be more intuitive and user friendly. In this paper, a vision based pass-through augmented reality system is developed that enables the user to command the mobile robot for various mobility and navigation tasks. A Pass-through augmented reality setup is achieved by a combination of a typical Virtual Reality headset and a stereo camera with depth perception. The stereo camera and a Leap Motion sensor mounted on a wearable VR headset acts as the vision system for the user and the gesture recognition system respectively. Necessary graphical user interface with the list of functions and information will appear on the VR headset display from which the user can select the option/command to be given to the mobile robot. The gesture made by the user in the GUI is detected and communicated to the robot through wireless means to perform the corresponding task.
    Keywords: Mixed Reality; Augmented Reality; Human-Machine Interaction.

Special Issue on: ReCAR2019 Mechatronics in Automotive Vehicles

  • Simulation with Car Following Model Considering Vehicle Dynamic Features   Order a copy of this article
    by Xiaowei Hu, Xiaoyi Ma, Dieter Schramm 
    Abstract: Microscopic traffic simulation has been applied not only for traffic prediction but also in more and more research fields. The typical car-following models widely used in simulation always need massive traffic observation data. By mathematical abstraction from traffic data some important characteristics of vehicles and drivers will be inevitably abandoned. In this article, a modelling method of car-following behaviour has been proposed, in which the dynamic features of different vehicles have been considered. As an example, an internal combustion engine vehicle model and electric vehicle model were implemented in the traffic simulation. The simulation results of using typical car-following models were also compared with the results using new model. From the result, the new model can display during simulation corresponding dynamic features. The internal combustion engine vehicle model also presented different dynamic characteristics from electric vehicle model, which caused a different simulation result.
    Keywords: Microscopic traffic simulation; car-following model; vehicle dynamics; SUMO; MATLAB; traffic flow modelling; vehicle modelling.

  • Handling performance criteria evaluation for vehicle suspension system with semi-active control strategies   Order a copy of this article
    by Ming Foong Soong, Rahizar Ramli, Ahmad Abdullah Saifizul, Azuddin Mamat 
    Abstract: The vehicle suspension is an important system in a vehicle with the purposes of providing ride comfort and handling capability, albeit with a compromise between the two. Semi-active vehicle suspension system, which solves this compromise by the use of semi-active variable or switchable damper instead of the common passive damper, has been studied frequently, with a few well-known semi-active controls such as Skyhook strategy, displacement-based strategy, and Groundhook strategy, already in existence for decades. However, many of these discrete-state-switchable control strategies are designed based on the vertical-dynamics-only quarter vehicle model, with a focus on controlling the vehicle body for ride comfort improvement, without considering the handling-related suspension performance. This study intends to evaluate any potential improvement in handling performance brought by a semi-active suspension system with these ride-oriented control strategies. In this study, the said control strategies were implemented independently on the four wheel stations of a 10-degree-of-freedom full vehicle model which was subjected to step-steering and sine-steering manoeuvres, and the relevant handling performance criteria were evaluated. Results from the simulations indicated that, despite these control strategies mostly being designed around achieving ride comfort, some of them are actually capable of bringing improvement in the handling aspect as well, judging from the improvement in a few handling performance criteria.
    Keywords: vehicle handling; semi-active suspension; Skyhook; switchable damper; steering manoeuvre.

  • System Configuration of Instrumented Half-Scaled Armoured Vehicle to Enhance Handling Performance due to Lateral Firing Impact   Order a copy of this article
    by Vimal Rau Aparow, Khisbullah Hudha, Mohd Sabirin Rahmat, Zulkiffli Abd. Kadir, Noor Hafizah Amer 
    Abstract: One of the greatest challenge in the wheeled armoured vehicle is the firing impact due to gun recoil force. In current configurations, wheeled armoured vehicle performs the firing while in static condition or fire in the longitudinal direction of the vehicle axis. This is mainly to avoid the recoil moment due to gun force to create unwanted yaw moment that disrupts the handling performance. However, this situation causes the armoured vehicle become a target for counterattack by the enemies. Therefore, Yaw Disturbance Rejection Control (YDRC) is developed as a solution to minimize the impact due to recoil force and improve the handling performance. In order to implement the active safety system, a complete system configuration of instrumented half-scaled armoured vehicle is required to interface the YDRC algorithm with Integrated Measurement and Control (IMC) Cronos Compact data acquisition system, Inertial Measurement Unit (IMU) and rotary encoder sensors. By using this system configuration, the impact of firing-on-the-move (FOM) test has been evaluated at maximum firing angle of 90 degree and vehicle speed of 40 km/h. The large firing angle and high vehicle speed is can caused instability for the armoured vehicle and effect the handling performance of the vehicle. Thus, the vehicle handling performances are evaluated in terms of yaw rate, yaw angle, lateral displacement and lateral acceleration.
    Keywords: Instrumented Armoured Vehicle; IMC DAQ; Yaw Disturbance Rejection Control; FOM-AFWS.

  • Designing graphical user interface for decision support system of driving fatigue   Order a copy of this article
    by Mohammad Firdaus Ani, Seri Rahayu Kamat, Minoru Fukumi, Mohamad Minhat, Abu Abdullah, Kalthom Husain 
    Abstract: The paper presents the continuity study from the previous work, which designing the graphical user interface (GUI) for a decision support system (DSS) of driving fatigue. As driving fatigue has been recognized as one of the significant contributory factors to the road accidents and fatalities in Malaysia, the author developed the decision support system that providing analysis, and proving solution and recommendation to the road users. In other words, the decision support system acts as the advisory and decision maker tool. In designing the GUI for a DSS, the Django based on Python programming language was used by the authors. There are five main GUI has been designed in this study; Admin GUI User Profile and Driving Information GUI, Regression Model GUI, Risk Factor Analysis GUI, and Superuser GUI. Further testing and validation of the graphical user interface for the decision support system are suggested before it is used commercially.
    Keywords: graphical user interface; driving fatigue; decision support system; python; SQLite; regression model; django; command prompt; fuzzy inference system; SciKit-Fuzzy.

Special Issue on: RANE 2019 Intelligent Mechatronic Systems and Additive Manufacturing

  • Design and tuning of Fractional order Model based control for higher order process using Bat algorithm   Order a copy of this article
    by Hemavathy P R, Mohamed Shuaib Y, Lakshmanaprabu S K 
    Abstract: Fractional order system gained more popularity in the engineering domain due to its accuracy of representing physical system. For solving many engineering, nonlinear, multimodal problems Bat optimization algorithm is effective to obtain global optimum solutions through rapid convergence. In this paper, time domain based approximation method is applied to approximate higher order transfer function to fractional order first order plus dead time transfer function using bat algorithm (BA). The main contribution of the proposed work is that the IMC based Proportional Integral Derivative (IMC-PID) controller tuning rules are developed analytically for the approximated fractional order model and integer order model. The developed IMC-PID resulted with single tuning parameter which is tuned using BA for minimization of Integral Time Absolute Error (ITAE). The simulation comparison results demonstrated that the proposed controller design procedure is capable of controlling higher order process effectively.
    Keywords: Fractional modeling; Bat Algorithm; Internal model control; Fractional PID with filter; Integer PID with filter.